CN114348137B - Bionic over-axis jumping mechanism and jumping method thereof - Google Patents
Bionic over-axis jumping mechanism and jumping method thereof Download PDFInfo
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Abstract
A bionic axis-passing jumping mechanism and a jumping method thereof comprise a power module and an execution module. The power module comprises a limiting cover plate, a transmission module and a shell. The invention can realize the overall high-speed take-off of the mechanism. The main elastic energy storage element is a compression spring, the action mode is simple, and the non-energy loss in the releasing process is small. The swing of the shank rod piece can effectively prolong the jump time of the mechanism and strengthen the jump capability. The invention can realize reciprocating jump under the condition that the motor continuously runs, and the swing of the shank rod piece is realized through the structure, and the invention has the advantages of lower cost and simple structure compared with the structure of actively controlling the jump.
Description
Technical Field
The invention relates to the field of bionic jumping mechanisms, in particular to a bionic over-axis jumping mechanism and a jumping method thereof.
Background
Many insects in the biological world have excellent jumping ability, and the insects are matched with a special energy storage material by virtue of a unique physiological structure, so that the moving speed and the moving range of jumping behaviors are greatly improved. Some of these organisms, for example: the flea insect optimizes its jumping system by using the force application mode of 'over-axis'.
With the development of science and technology, the application field of robots is more and more extensive, people expect that robots can finish operation in environments with complex and changeable working conditions, which requires that the robots have good terrain adaptability and obstacle avoidance capability, and jumping behavior can be a good solution for the robots, and the jumping behavior can realize that the robots finish high-speed movement in a short time, so that the robots are more suitable for movement in complex and unpredictable environments, and the jumping mechanism is an important component of the jumping performance of the robots, and the performance of the jumping mechanism directly influences the jumping capability of the whole robots, thereby influencing the overall movement capability and obstacle avoidance capability of the robots.
In the prior art, the jumping mechanism is disclosed, the jumping process is realized through the driving of a complex control system and a variable speed motor, but due to the complexity of the control system, the quality in the jumping mechanism is improved, the jumping capability is still to be improved, the jumping mechanism is improved, and the control system is simplified, so that the effective solution for improving the working capability of the jumping mechanism is provided.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a bionic axis-passing jumping mechanism and a jumping method thereof.
A bionic axis jumping mechanism comprises a power module and an execution module; the power module comprises a limit cover plate, a transmission module and a shell, wherein the limit cover plate is arranged above the shell, a transmission module main body is arranged inside the shell, the upper side of the transmission module penetrates through a square hole of the limit cover plate, and the lower side of the transmission module penetrates through a square hole of the shell; the transmission module consists of a first motor, a first incomplete gear, a first rack, an extensor rope, a second motor, a second incomplete gear, a second rack and a flexor rope. The first motor output shaft is in gear engagement with the first incomplete gear, the first incomplete gear is in gear engagement with the first rack, the second motor output shaft is in gear engagement with the second incomplete gear, the second incomplete gear is in gear engagement with the second rack, a limit hole is formed in the side edge of the first rack, and a mounting hole is formed in the lower portion of the first rack. The extensor rope is fixed with the first rack through the mounting hole. The side of the second rack is provided with a limiting hole, the lower part of the second rack is provided with a mounting hole, the flexor rope is fixed with the second rack through the mounting hole, the execution module consists of a first spring, a second spring, a third spring, a fourth spring, a partition plate, a thigh section body, a first shank section rod and a second shank section rod, the first spring, the second spring, the third spring and the fourth spring are symmetrically and uniformly distributed above the partition plate, and the partition plate is provided with two square holes, so that the first rack, the extensor rope, the second rack and the flexor rope can pass through the square holes and enter the thigh section body. The strand joint body is arranged below the partition plate. The front side and the back side of the inside of the thigh section body are respectively provided with an a column and a b column, the a column is matched with a first rack limiting hole, the b column is matched with a second rack limiting hole, the left side and the right side of the lower end of the thigh section body are respectively hinged with a first shank and a second shank, the hinge center is an axis A, two ends of the extensor rope are respectively fixed with the front sides of the first shank and the second shank, and the front sides of the first shank and the second shank at two ends of the flexor rope are respectively fixed.
A jumping method of a bionic over-axis jumping mechanism,
during the working process: after the first motor and the second motor are started: the first incomplete gear and the first rack and the second incomplete gear and the second rack are synchronously meshed, the first rack and the second rack move upwards, the stretching elastic potential energy of the extensor rope is gradually increased under the driving of the first rack, and the flexor rope is gradually converted into a tightening state from a loosening state under the driving of the second rack;
after the flexor rope is turned into a tightening state, the first incomplete gear and the first rack and the second incomplete gear and the second rack are continuously meshed, the first rack and the second rack continuously move upwards, the tensile elastic potential energy of the extensor rope is continuously increased under the drive of the first rack, the flexor rope is kept in the tightening state under the drive of the second rack, and the first tibialis rod and the second tibialis rod gradually rotate around the A axis to complete curling of the first tibialis rod and the second tibialis rod;
after the first and second tibialis rods are curled, the acting force direction of the extensor rope on the first and second tibialis rods is at the front side of the A axis, the lower ends of the first and second rack limiting holes are in contact with an a column and a b column of the thigh section body, the first incomplete gear and the first rack and the second incomplete gear and the second rack are continuously meshed, the first rack and the second rack continuously move upwards, the tension elastic potential energy of the extensor rope is not continuously increased under the limit of the a column and the b column of the thigh section body on the first rack and the second rack, the flexor rope keeps a tightening state, and the extensor rope, the flexor rope, the splitter plate, the thigh section body, the first tibialis rod and the second tibialis moved upwards relative to the shell, and the first spring, the second spring, the third spring and the fourth spring are gradually compressed to generate the elastic potential energy;
after the first incomplete gear and the first rack and the second incomplete gear and the second rack are disengaged, the elastic potential energy stored by the first spring, the second spring, the third spring and the fourth spring is gradually released, the mechanism starts to jump, meanwhile, under the action of the release of the tensile elastic potential energy of the extensor rope, the first rack moves downwards relative to the thigh body, the extensor rope gradually rotates in the pulling direction of the first tibialis rod and the second tibialis rod, and when the extensor rope rotates to the rear side of the A shaft in the pulling direction of the first tibialis rod and the second tibialis rod, the extensor rope pulls the first tibialis rod and the second tibialis rod to rotate to the rear side, and the first tibialis rod and the second tibialis rod start to swing to the rear side until the extensor rope stretches; after the jump is completed, the gear and the rack are waited to be meshed again, and the next jump period is re-entered.
The beneficial effects of the invention are as follows:
1. the main elastic energy storage element is a compression spring, the action mode is simple, and the non-energy loss in the releasing process is small.
2. The swing of the shank rod piece can effectively prolong the jump time of the mechanism and strengthen the jump capability.
3. The invention can realize reciprocating jump under the condition that the motor continuously runs, and the swing of the shank rod piece is realized through the structure, and the invention has the advantages of lower cost and simple structure compared with the structure of actively controlling the jump.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective view of a power module;
FIG. 3 is an exploded view of the power module;
FIG. 4 is an exploded view of the transmission module;
FIG. 5 is a perspective view of an execution module;
FIG. 6 is an exploded view of an execution module;
FIG. 7 is a cross-sectional view of the tightened state of the present invention;
fig. 8 is a cross-sectional view of the present invention in a relaxed state.
Detailed Description
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7 and fig. 8, a bionic axle center jumping mechanism comprises a power module 1 and an execution module 2, wherein the power module 1 comprises a limit cover plate 11, a transmission module 12 and a shell 13, two square holes are formed in the lower sides of the limit cover plate 11 and the shell 13, the limit cover plate 11 is arranged above the shell 13, a main body of the transmission module 12 is arranged in the shell 13, the upper side of the transmission module 12 penetrates through the square holes of the limit cover plate 11, and the lower side of the transmission module 12 penetrates through the square holes of the shell 13; the transmission module 12 comprises a first motor 121, a first incomplete gear 122, a first rack 123, an extensor rope 124, a second motor 125, a second incomplete gear 126, a second rack 127 and a flexor rope 128, wherein the first incomplete gear 122 is installed on the output shaft of the first motor 121, gear engagement is arranged between the first incomplete gear 122 and the first rack 123, the first rack 123 is positioned through a square hole on the lower side of the limiting cover plate 11 and the shell 13, a limiting hole is formed in the side edge of the first rack 123, a mounting hole is formed in the lower side of the first rack 123, the extensor rope 124 is fixed with the first rack 123 through the mounting hole, a second incomplete gear 126 is installed on the output shaft of the second motor 125, gear engagement is formed between the second incomplete gear 126 and the second rack 127, the second rack 127 is positioned through the square hole on the lower side of the limiting cover plate 11 and the shell 13, the limiting hole is formed in the side edge of the second rack 127, the flexor rope 128 is fixed with the second rack 127 through the mounting hole, the execution module 2 comprises a first spring 21, a second spring 22, a third spring 23, a fourth spring 24, a fourth spring 26, a fourth joint 25, a square joint 25 and a square joint 25, and a division plate 25 are formed by the second rack 127, and a square joint 25 are symmetrically arranged between the second joint 25 and the second joint 25. The front side and the rear side of the inside of the thigh section body 26 are respectively provided with an a column and a b column, the a column is matched with a first rack 123 limiting hole, the b column is matched with a second rack 127 limiting hole, the left side and the right side of the lower end of the thigh section body 26 are respectively hinged with a first shank 27 and a second shank 28, the hinging center is an axis A, two ends of the extensor rope 124 are respectively fixed with the front sides of the first shank 27 and the second shank 28, and the two ends of the flexor rope 128 are respectively fixed with the front sides of the first shank 27 and the second shank 28.
The extensor cord 124 is rubber and the flexor cord 128 is inelastic twine. After the mechanism is installed, the extensor cord 124 has some tensile elastic potential in the relaxed phase and the flexor cord 128 is in a relaxed state.
A jumping method of a bionic over-axis jumping mechanism,
during the working process: after the first motor 121 and the second motor 125 are started: the first incomplete gear 122 and the first rack 123 and the second incomplete gear 126 and the second rack 127 are synchronously meshed, the first rack 123 and the second rack 127 move upwards, the stretching elastic potential energy of the extensor rope 124 is gradually increased under the drive of the first rack 123, and the flexor rope 128 is gradually changed from a loose state to a tightening state under the drive of the second rack 127;
after the flexor rope 128 is turned into a tightening state, the first incomplete gear 122 and the first rack 123 and the second incomplete gear 126 and the second rack 127 are continuously meshed, the first rack 123 and the second rack 127 are continuously moved upwards, the tensile elastic potential energy of the extensor rope 124 is continuously increased under the drive of the first rack 123, the flexor rope 128 is kept in the tightening state under the drive of the second rack 127, and the first tibial rod 27 and the second tibial rod 28 are gradually rotated around the A axis to complete the curling of the first tibial rod 27 and the second tibial rod 28;
after the first and second tibialis rods 27 and 28 are curled, the acting force of the extensor rope 124 on the first and second tibialis rods 27 and 28 is in front of the A axis, the lower ends of the limiting holes of the first and second racks 123 and 127 are contacted with the a and b columns of the thigh body 26, the first incomplete gear 122 and the first rack 123 and the second incomplete gear 126 and the second rack 127 are continuously meshed, the first and second racks 123 and 127 continuously move upwards, the tensile elastic potential energy of the extensor rope 124 is not continuously increased under the limit of the a and b columns of the thigh body 26 on the first and second racks 123 and 127, the extensor rope 128 keeps a tightening state, the extensor rope 124, the extensor rope 128, the division plate 25, the thigh body 26, the first and second tibialis rods 27 and the second tibialis moved upwards relative to the shell 13, and the first and second springs 21 and 22, and the third and fourth springs 23 and 24 are gradually compressed, so that elastic potential energy is generated;
after the first incomplete gear 122 and the first rack 123 and the second incomplete gear 126 and the second rack 127 are disengaged, the elastic potential energy stored by the first spring 21, the second spring 22, the third spring 23 and the fourth spring 24 is gradually released, the mechanism starts to jump, meanwhile, under the action of the release of the stretching elastic potential energy of the extensor rope 124, the first rack 123 moves downwards relative to the thigh body 26, the extensor rope 124 gradually rotates in the pulling direction of the first tibial rod 27 and the second tibial rod 28, and when the extensor rope 124 rotates to the rear side of the A axis in the pulling direction of the first tibial rod 27 and the second tibial rod 28, the extensor rope 124 pulls the first tibial rod 27 and the second tibial rod 28 to rotate to the rear side, and the first tibial rod 27 and the second tibial rod 28 start to swing to the rear side until the extensor rope 124 stretches; after the jump is completed, the gear and the rack are waited to be meshed again, and the next jump period is re-entered.
Claims (2)
1. A method for a bionic axis jumping mechanism is characterized in that: comprises a power module (1) and an execution module (2); the power module (1) comprises a limit cover plate (11), a transmission module (12) and a shell (13), two square holes are formed in the lower sides of the limit cover plate (11) and the shell (13), the limit cover plate (11) is arranged above the shell (13), a main body of the transmission module (12) is arranged inside the shell (13), the upper side of the transmission module (12) penetrates through the square holes of the limit cover plate (11), and the lower side of the transmission module (12) penetrates through the square holes of the shell (13); the transmission module (12) consists of a first motor (121), a first incomplete gear (122), a first rack (123), an extensor rope (124), a second motor (125), a second incomplete gear (126), a second rack (127) and a flexor rope (128), wherein the first incomplete gear (122) is arranged on an output shaft of the first motor (121), the first incomplete gear (122) is meshed with the first rack (123), and the first rack (123) is positioned with a square hole on the lower side of the shell (13) through a limiting cover plate (11); a limiting hole is formed in the side edge of the first rack (123), and a mounting hole is formed below the first rack; the extensor rope (124) is fixed with the first rack (123) through a mounting hole; a second incomplete gear (126) is arranged on an output shaft of the second motor (125), the second incomplete gear (126) is meshed with a second rack (127), and the second rack (127) is positioned with a square hole on the lower side of the shell (13) through a limit cover plate (11); a limiting hole is formed in the side edge of the second rack (127), and a mounting hole is formed below the second rack; the flexor rope (128) is fixed with the second rack (127) through a mounting hole; the execution module (2) consists of a first spring (21), a second spring (22), a third spring (23) and a fourth spring (24), a division plate (25), a thigh section body (26), a first shank rod (27) and a second shank rod (28); the first springs (21), the second springs (22), the third springs (23) and the fourth springs (24) are symmetrically and uniformly distributed above the partition plate (25), and the partition plate (25) is provided with two square holes, so that the first racks (123), the extensor ropes (124), the second racks (127) and the flexor ropes (128) can pass through the square holes and enter the thigh section body (26); a strand joint body (26) is arranged below the division plate (25); the front side and the rear side of the inside of the thigh section body (26) are respectively provided with an a column and a b column; the column a is matched with a limiting hole of the first rack (123), and the column b is matched with a limiting hole of the second rack (127); the left side and the right side of the lower end of the thigh section body (26) are respectively hinged with a first shank (27) and a second shank (28), the hinge center is an axis A, the two ends of the extensor rope (124) are respectively fixed with the inner parts of the front sides of the first shank (27) and the second shank (28), and the first shank (27) and the outer parts of the front sides of the second shank (28) are respectively fixed at the two ends of the flexor rope (128);
after the first motor (121) and the second motor (125) are started, the motor is started: the first incomplete gear (122) and the first rack (123) and the second incomplete gear (126) and the second rack (127) are synchronously meshed, the first rack (123) and the second rack (127) move upwards, the stretching elastic potential energy of the extensor rope (124) is gradually increased under the driving of the first rack (123), and the flexor rope (128) is gradually changed into a tightening state from a loosening state under the driving of the second rack (127);
after the flexor rope (128) is turned into a tightening state, the first incomplete gear (122) and the first rack (123) and the second incomplete gear (126) and the second rack (127) are continuously meshed, the first rack (123) and the second rack (127) continuously move upwards, the stretching elastic potential energy of the extensor rope (124) is continuously increased under the driving of the first rack (123), the flexor rope (128) is kept in the tightening state under the driving of the second rack (127), and the first shank (27) and the second shank (28) gradually rotate around the axis A to finish the curling of the first shank (27) and the second shank (28);
after the first shank (27) and the second shank (28) are curled, the acting force of the extensor rope (124) on the first shank (27) and the second shank (28) is in front of the A axis, the lower ends of limiting holes of the first rack (123) and the second rack (127) are in contact with an a column and a b column of the thigh body (26), the first incomplete gear (122) and the first rack (123) and the second incomplete gear (126) and the second rack (127) are continuously meshed, the first rack (123) and the second rack (127) continuously move upwards and the a column and the b column of the thigh body (26) are in limiting of the first rack (123) and the second rack (127), the tensile elastic potential energy of the extensor rope (124) is not continuously increased, the flexor rope (128) is kept in a tightened state, the flexor rope (128), the partition plate (25), the thigh body (26), the first and the second shank (27) are continuously meshed with the second rack (126) and the second shank (28), and the fourth elastic potential energy (23) are gradually moved upwards relative to the first and the fourth elastic spring (23);
after the first incomplete gear (122) is disengaged from the first rack (123) and the second incomplete gear (126) is disengaged from the second rack (127), the elastic potential energy stored by the first spring (21), the second spring (22), the third spring (23) and the fourth spring (24) is gradually released, the mechanism starts to jump, and simultaneously, under the action of the release of the tensile elastic potential energy of the extensor rope (124), the first rack (123) moves downwards relative to the thigh section body (26), and the extensor rope (124) gradually rotates the tension direction of the first shin section rod (27) and the second shin section rod (28); when the extensor rope (124) rotates to the rear side of the axis A in the pulling direction of the first tibial rod (27) and the second tibial rod (28), the extensor rope (124) pulls the first tibial rod (27) and the second tibial rod (28) to rotate to the rear side, and the first tibial rod (27) and the second tibial rod (28) start to swing to the rear side until the extensional motion is achieved; after the jump is completed, the gear and the rack are waited to be meshed again, and the next jump period is re-entered.
2. The method of a bionic over-axis jump mechanism according to claim 1, wherein: the extensor rope (124) is made of rubber; the flexor rope (128) is made of inelastic hemp rope; after the mechanism is installed, the extensor rope (124) has a certain stretching elastic potential energy in a relaxation stage, and the flexor rope (128) is in a relaxation state.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210098323.3A CN114348137B (en) | 2022-01-27 | 2022-01-27 | Bionic over-axis jumping mechanism and jumping method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210098323.3A CN114348137B (en) | 2022-01-27 | 2022-01-27 | Bionic over-axis jumping mechanism and jumping method thereof |
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| CN114348137B true CN114348137B (en) | 2024-03-19 |
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| CN111319694A (en) * | 2020-04-20 | 2020-06-23 | 中国空间技术研究院 | Spherical robot of multi-mode motion |
| CN112960045A (en) * | 2021-03-10 | 2021-06-15 | 哈尔滨工业大学 | Frog-imitated amphibious robot and motion control method |
| CN113232735A (en) * | 2021-05-18 | 2021-08-10 | 中国科学技术大学 | Spherical robot |
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2022
- 2022-01-27 CN CN202210098323.3A patent/CN114348137B/en active Active
Patent Citations (7)
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| CN102050156A (en) * | 2009-11-05 | 2011-05-11 | 西北工业大学 | Bionic hopping robot with two degrees of freedom |
| RU97106U1 (en) * | 2010-04-05 | 2010-08-27 | Государственное образовательное учреждение высшего профессионального образования Курский государственный технический университет | Jumping Robot |
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